Design of UDE-based dynamic surface control for dynamic positioning of vessels with complex disturbances and input constraints

被引：36

作者：

Huang, Youqiang ^{[1
]}

Wu, Defeng ^{[1
,2
]}

Yin, Zibin ^{[1
,2
]}

Yuan, Zhi-Ming ^{[3
]}

机构：

[1] Jimei Univ, Sch Marine Engn, Xiamen 361021, Peoples R China

[2] Fujian Prov Key Lab Naval Architecture & Ocean En, Xiamen 361021, Peoples R China

[3] Univ Strathclyde, Dept Naval Architecture Ocean & Marine Engn, Glasgow G4 0LZ, Lanark, Scotland

来源：

OCEAN ENGINEERING | 2021年 / 220卷

基金：

中国国家自然科学基金;

关键词：

Uncertainty and disturbance estimator (UDE); Input constraints; Dynamic positioning of vessels; Dynamic surface controller; Auxiliary dynamic system (ADS); NONLINEAR-SYSTEMS; TRACKING CONTROL; SHIPS; UNCERTAINTY; VEHICLES;

D O I：

10.1016/j.oceaneng.2020.108487

中图分类号：

U6 [水路运输]; P75 [海洋工程];

学科分类号：

0814 ; 081505 ; 0824 ; 082401 ;

摘要：

In practice, dynamic positioning (DP) vessels are subjected to complex disturbances as well as the magnitude and changing rate constraints of the thrusts and moments. This study applied a dynamic surface controller based on an uncertainty and disturbance estimator (UDE) to a DP vessel with complex disturbances and input constraints. The UDE was designed to estimate and handle the complex disturbances. An auxiliary dynamic system (ADS) and smooth switching function were employed to compensate for the input constraints and avoid the singularity phenomenon caused by the ADS, respectively. The combination of the UDE method and dynamic surface control (DSC) technology significantly simplified the design process for the control law and increased the practicability for DP vessels. The stability of the proposed control law was proved using the Lyapunov theory. The effectiveness of the control law and possibility of actually applying it to a DP vessel were verified using simulation experiments.

引用

页数：11

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